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The former England Under-21 boss was sacked as Crystal Palace manager last month after just 16 months in charge at Selhurst Park.
Taylor has also managed Hull, Southend, Dover Athletic, Gillingham, Leicester and Brighton.
Stevenage have been looking for a new boss since Mark Stimson resigned earlier this month following 16 months at the Blue Square Premier outfit.
Chairman Phil Wallace said: "I've done nothing else for almost a week other than work on the managerial position, but it was worth it to get Peter on board.
"This is a Championship appointment in the Conference and shows our desire to compete for promotion this season and next.
"It wasn't easy persuading Peter that this was a great career move for him."
Wallace added: "This is breathtaking news for the town of Stevenage. Peter is one of the finest coaches in the country."
Since 2004, he had also combined club management with his role as England Under-21 boss, until relinquishing the job in January 2007 to concentrate on his position with Palace.
Taylor also had a one-match spell as caretaker manager of the full England team in November 2000.
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